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Diffstat (limited to 'n/asserv/src/asserv/pwm.c')
-rw-r--r--n/asserv/src/asserv/pwm.c8
1 files changed, 4 insertions, 4 deletions
diff --git a/n/asserv/src/asserv/pwm.c b/n/asserv/src/asserv/pwm.c
index 4b5abc5..50f4842 100644
--- a/n/asserv/src/asserv/pwm.c
+++ b/n/asserv/src/asserv/pwm.c
@@ -33,7 +33,7 @@
#define PWM_RIGHT_DIR 2
/** Define the absolute maximum PWM value. */
-#define PWM_MAX 0x1ff
+#define PWM_MAX 0x3ff
/** PWM values, this is an error if absolute value is greater than the
* maximum. */
@@ -58,12 +58,12 @@ pwm_update (void);
static inline void
pwm_init (void)
{
- /* Fast PWM, TOP = 0x1ff, OC1B & OC1C with positive logic.
+ /* Fast PWM, TOP = 0x3ff, OC1B & OC1C with positive logic.
f_IO without prescaler.
- Fpwm = f_IO / (prescaler * (1 + TOP)) = 28912 Hz. */
+ Fpwm = f_IO / (prescaler * (1 + TOP)) = 14400 Hz. */
TCCR1A =
regv (COM1A1, COM1A0, COM1B1, COM1B0, COM1C1, COM1C0, WGM11, WGM10,
- 0, 0, 1, 0, 1, 0, 1, 0);
+ 0, 0, 1, 0, 1, 0, 1, 1);
TCCR1B = regv (ICNC1, ICES1, 5, WGM13, WGM12, CS12, CS11, CS10,
0, 0, 0, 0, 1, 0, 0, 1);
/* Enable pwm and direction outputs in DDRB. */